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cs.RO2026
FOUND-IT: Foundation-model-first Task-driven 3D Scene Graphs with Granularity on Demand
Dominic Maggio, Nicolas Gorlo, Kris Hauser +1
We present the first approach to build hierarchical task-driven 3D scene graphs of arbitrary indoor or outdoor environments using an uncalibrated monocular camera in real-time. We…
cs.RO2026
Worth Remembering: Surprise-Gated Robot Episodic Memory
Nicolas Gorlo, Derek K. Wise, Alberto Speranzon +1
Robots solving generalist tasks need to be able to ground instructions in their past experience, since humans may refer to notable past events when giving a task (e.g., ``Take me t…